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At least 343 records · Page 19

All sources NASA NTRS DOE OSTI

DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

DOE OSTI2026

Agentic artificial intelligence for multistage physics experiments at a large-scale user facility particle accelerator

We present a language-model-driven agentic artificial intelligence (AI) system to autonomously execute multistage physics experiments on a production synchrotron light source. Implemented at the Advanced Light Source particle accelerator, the system translates natural language user prompts into structured execution plans that combine archive data retrieval, control-system channel resolution, automated script generation, controlled machine interaction, and analysis. In a representative machine physics task, we show that preparation time was reduced by 2 orders of magnitude relative to manual scripting even for a system expert, while operator-standard safety constraints were strictly upheld. Core architectural features, plan-first orchestration, bounded tool access, and dynamic capability selection, enable transparent, auditable execution with fully reproducible artifacts. These results establish a blueprint for the safe integration of agentic AI into accelerator experiments and demanding machine physics studies, as well as routine operations, with direct portability across accelerators worldwide and, more broadly, to other large-scale scientific infrastructures.

Accelerator/storage ring control systems↗

DOE OSTI2016

Power Hardware-in-the-Loop Testing of Multiple Photovoltaic Inverters' Volt-Var Control with Real-Time Grid Model

Traditional testing methods fall short in evaluating interactions between multiple smart inverters providing advanced grid support functions due to the fact that such interactions largely depend on their placements on the electric distribution systems with impedances between them. Even though significant concerns have been raised by the utilities on the effects of such interactions, little effort has been made to evaluate them. In this paper, power hardware-in-the-loop (PHIL) based testing was utilized to evaluate autonomous volt-var operations of multiple smart photovoltaic (PV) inverters connected to a simple distribution feeder model. The results provided in this paper show that depending on volt-var control (VVC) parameters and grid parameters, interaction between inverters and between the inverter and the grid is possible in some extreme cases with very high VVC slopes, fast response times and large VVC response delays.

14 SOLAR ENERGY↗

DOE OSTI2021

A large dataset of detection and submeter-accurate 3-D trajectories of juvenile Chinook salmon

Abstract Acoustic telemetry has been used extensively to study the behavior of aquatic animals. The Juvenile Salmon Acoustic Telemetry System (JSATS) is one such system; it was developed for studying juvenile salmonids but has been used to study numerous species. A recent innovation of the JSATS system is an acoustic transmitter that is small enough to be implanted through injection or small incision that doesn’t require sutures. Use of the JSATS system involves deploying cabled acoustic receivers at hydroelectric dams, or other structures, and autonomous acoustic receivers in free-flowing sections of a river. The raw detections from acoustic-tagged fish are processed to remove potential false positives. The clean detections (5,147,996 total) are used to generate detection events and to compute 3-D trajectories (403,900 total), which are used to assign fish to a passage route through a dam. Controlled field testing involving a high-accuracy Global Positioning System receiver is done to validate the submeter accuracy of the trajectories. The JSATS dataset could be reused for expanding the understanding of near-dam fish behavior.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2019

How non-bonding domains affect the active assembly of microtubule spools

We report that structural defects can determine and influence various properties of materials, and many technologies rely on the manipulation of defects ( e.g. , semiconductor industries). In biological systems, management of defects/errors ( e.g. DNA repair) is critical to an organism's survival, which has inspired the design of artificial nanomachines that mimic nature's ability to detect defects and repair damage. Biological motors have captured considerable attention in developing such capabilities due to their ability to convert energy into directed motion in response to environmental stimuli, which maximizes their ability for detection and repair. The objective of the present study was to develop an understanding of how the presence of non-bonding domains, here considered as a “defect”, in microtubule (MT) building blocks affect the kinesin-driven, active assembly of MT spools. The assembly/joining of micron-scale bonding ( i.e. , biotin-containing) and non-bonding ( i.e. , no biotin) MTs resulted in segmented MT building blocks consisting of alternating bonding and non-bonding domains. Here, the introduction of these MT building blocks into a kinesin gliding motility assay along with streptavidin-coated quantum dots resulted in the active assembly of spools with altered morphology but retained functionality. Moreover, it was noted that non-bonding domains were autonomously and preferentially released from the spools over time, representing a mechanism by which defects may be removed from these structures. In conclusion, our findings demonstrate that this active assembly system has an intrinsic ability for quality control, which can be potentially expanded to a wide range of applications such as self-regulation and healing of active materials.

36 MATERIALS SCIENCE↗

DOE OSTI2023

Surface enrichment dictates block copolymer orientation

Orientation of block copolymer (BCP) morphology in thin films is critical to applications as nanostructured coatings. Despite being well-studied, the ability to control BCP orientation across all possible block constituents remains challenging. Here, in this study, we deploy coarse-grained molecular dynamics simulations to study diblock copolymer ordering in thin films, focusing on chain makeup, substrate surface energy, and surface tension disparity between the two constituent blocks. We explore the multi-dimensional parameter space of ordering using a machine-learning approach, where an autonomous loop using a Gaussian process (GP) control algorithm iteratively selects high-value simulations to compute. The GP kernel was engineered to capture known symmetries. The trained GP model serves as both a complete map of system response, and a robust means of extracting material knowledge. We demonstrate that the vertical orientation of BCP phases depends on several counter-balancing energetic contributions, including entropic and enthalpic material enrichment at interfaces, distortion of morphological objects through the film depth, and of course interfacial energies. BCP lamellae are found more resistant to these effects, and thus more robustly form vertical orientations across a broad range of conditions; while BCP cylinders are found to be highly sensitive to surface tension disparity.

77 NANOSCIENCE AND NANOTECHNOLOGY↗

DOE OSTI2019

Power system effects and mitigation recommendations for DER cyberattacks

Extensive deployment of interoperable distributed energy resources (DER) is increasing the power system cyber security attack surface. National and jurisdictional interconnection standards require DER to include a range of autonomous and commanded grid‐support functions, which can drastically influence power quality, voltage, and bulk system frequency. Here, the authors investigate the impact to the cyber‐physical power system in scenarios where communications and operations of DER are controlled by an adversary. The findings show that each grid‐support function exposes the power system to distinct types and magnitudes of risk. The physical impact from cyber actions was analysed in cases of DER providing distribution system voltage regulation and transmission system support. Finally, recommendations are presented for minimising the risk using engineered parameter limits and segmenting the control network to minimise common‐mode vulnerabilities.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2020

Renewable Integration in Hybrid ac-dc Systems using Multi-port Autonomous Reconfigurable Solar power plant (MARS)

To increase inertia and improve primary frequency response of future grids, grid-forming inverters connecting PV to grid and energy storage systems (ESSs) are likely to play an important role. Moreover, high-voltage direct current (HVdc) links will also be an enabler to transfer remote PV generation and for improved grid stability. That is, with increased penetration of PV, discrete development of PV and ESS connecting to transmission ac grid and HVdc links is one of the solutions for stable operation of grid. Here, an integrated concept for integration of PV and ESS to transmission ac grid and HVdc links is proposed that is named as multi-port autonomous reconfigurable solar power plant (MARS). The proposed integrated development reduces the cost associated with respect to discrete development of PV-ESS systems connecting to transmission ac grid and HVdc links. The integrated development incorporates advanced control methods to provide inertial and primary frequency response, reactive power support, and transient stability to manage PV and ESS resources. In this paper, high-fidelity switched system model of the integrated system and grids are developed and detailed simulation results are provided to showcase the stable operation of the integrated system and provision of grid support functions.

14 SOLAR ENERGY↗

DOE OSTI2022

Systems and methods for detecting and mitigating cyber attacks on power systems comprising distributed energy resources

Extensive deployment of interoperable distributed energy resources (DER) on power systems is increasing the power system cybersecurity attack surface. National and jurisdictional interconnection standards require DER to include a range of autonomous and commanded grid-support functions which can drastically influence power quality, voltage, and the generation-load balance. Investigations of the impact to the power system in scenarios where communications and operations of DER are controlled by an adversary show that each grid-support function exposes the power system to distinct types and magnitudes of risk. The invention provides methods for minimizing the risks to distribution and transmission systems using an engineered control system which detects and mitigates unsafe control commands.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Systems and methods for detecting and mitigating cyber attacks on power systems comprising distributed energy resources

Johnson, Jay Tillay↗

DOE OSTI2018

Developing an Operational Testing Ground for Autonomous and Connected Vehicles

This paper provides a framework for developing a connected vehicle “sandbox” environment where connected vehicles equipped with Dedicated Short-Range Communication (DSRC) radios can interface with sensors that operate on a range of software architectures using open-source tools. In control system design, rapid prototyping for connected vehicle applications can be a challenge when the subsystems operate with different communication protocols, at different data rates, and with changing connectivity between subsystems. In this work, we showcase the use of open-source software tools, specifically the Robot Operating System (ROS), to facilitate connecting DSRC radios with embedded systems in both vehicle and infrastructure applications. Here, this integration helps in the rapid field testing of algorithms in an efficient manner in both hardware-in-the-loop applications as well as prototype deployments. Two examples are presented that demonstrate the use of this framework: 1) the use of DSRC systems for emergency responders in crash situations, and 2) using DSRC systems to reduce the fuel consumption of connected commercial trucks.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2015

Autonomous electrochromic assembly

This disclosure describes system and methods for creating an autonomous electrochromic assembly, and systems and methods for use of the autonomous electrochromic assembly in combination with a window. Embodiments described herein include an electrochromic assembly that has an electrochromic device, an energy storage device, an energy collection device, and an electrochromic controller device. These devices may be combined into a unitary electrochromic insert assembly. The electrochromic assembly may have the capability of generating power sufficient to operate and control an electrochromic device. This control may occur through the application of a voltage to an electrochromic device to change its opacity state. The electrochromic assembly may be used in combination with a window.

42 ENGINEERING↗

DOE OSTI2022

Autonomous continuous flow reactor synthesis for scalable atom-precision

With new instrumentation design, robotics, and in-operando hyphenated analytical tool automation, the intelligent discovery of synthesis pathways is becoming feasible. It can potentially bridge the gap for the scale-up of new materials. In this article, we review current progress and describe a new system that uses an autonomous continuous flow chemistry framework to translate high-quality lead molecules and materials to quantities that can meet scalability demands. At the core is a continuous flow synthesis platform that can design its viable synthesis pathway to a particular molecule or material and then autonomously carry it out. This is realized by integrating: (1) A workflow/architecture for multimode chemical/materials characterization in-line. The in-line characterization modes are NMR, ESR, IR, Raman, UV-Vis, GC-MS, and HPLC, along with ex-situ modes for X-Ray and neutron scattering; (2) Integration for feedback/analysis/data storage of the control variables; (3) A core software stack that includes deep learning and reinforcement learning alongside quantum chemistry and molecular dynamics; (4) On-demand compute architectures that parse calculations to compute resources needed which include light-weight edge, mid-level edge (NVIDA DGX-2), and high-performance computing. We demonstrate preliminary results on how this autonomous reactor system can enhance our ability to deliver deuterated materials, copolymers, and site-substituted molecules.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2022

Medium-scale to large-scale implementation of cyber-physical human experiments in live traffic

Autonomous Vehicles (AVs) such as cars and trucks are being developed and tested as Cyber-Physical Human systems while the technology improves. Before these systems can achieve full autonomy, some serve as tools in the form of adaptive cruise control. The CIRCLES Consortium investigates the potential for AVs to increase fuel efficiency of highway traffic by smoothing “stop-and-go” traffic waves that result from normal human driving behavior in congestion. We have performed an experiment to evaluate the real world effects of implementing this strategy. A medium-scale experiment was performed on I-24 near Nashville, TN in August 2021. This was a precursor to a larger experiment that will take place November 2022. We examine how the human part of the experiment will change as we scale up from an 11 vehicle test (four AVs) to 100 AVs. There are many solutions to problems of the medium-scale experiment that would be inconvenient, complicate the experience, or not be practicable. The medium-scale experiment involved 11 cars of which four had a custom control algorithm installed to be engaged by the driver. The large-scale experiment will have 100 cars, all with custom control algorithm installed to act on traffic when the controller is engaged. We examine key choices made for the medium experiment, and how some will be different for the large experiment. Our experience performing the medium-scale experiment has made it clear that repeating our methods from this smaller one are inefficient or impossible if used for the large-scale experiment and will be improved.

McQuade, Sean T.↗

DOE OSTI2025

Griffin Capability Improvements in Support of Ex-core Deep-Penetration Problems

Advanced reactor designs, especially portable reactors that are designed to be located closer to humans and operate autonomously, require the ability to accurately compute the ex-core neutron and gamma flux solutions in terms of shielding design optimization to reduce dose rates at the vessel boundary and detector signal prediction to drive the reactor control system. The Nuclear Energy Advanced Modeling and Simulation program has prioritized improvements to the Griffin discrete ordinates (SN) solver for deep-penetration problems in fiscal year 2025. Significant advancements have been made to the Griffin methodologies for solving ex-core deep-penetration problems for steady-state, fixed-source and transient calculations. This work presents the methodology improvements as well as a comprehensive demonstration with a Transient Test Reactor model and measurements.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2013

Distributed Smart Grid Asset Control Strategies for Providing Ancillary Services

With large-scale plans to integrate renewable generation driven mainly by state-level renewable portfolio requirements, more resources will be needed to compensate for the uncertainty and variability associated with intermittent generation resources. Distributed assets can be used to mitigate the concerns associated with renewable energy resources and to keep costs down. Under such conditions, performing primary frequency control using only supply-side resources becomes not only prohibitively expensive but also technically difficult. It is therefore important to explore how a sufficient proportion of the loads could assume a routine role in primary frequency control to maintain the stability of the system at an acceptable cost. The main objective of this project is to develop a novel hierarchical distributed framework for frequency based load control. The framework involves two decision layers. The top decision layer determines the optimal gain for aggregated loads for each load bus. The gains are computed using decentralized robust control methods, and will be broadcast to the corresponding participating loads every control period. The second layer consists of a large number of heterogeneous devices, which switch probabilistically during contingencies so that aggregated power change matches the desired amount according to the most recently received gains. The simulation results show great potential to enable systematic design of demand-side primary frequency control with stability guarantees on the overall power system. The proposed design systematically accounts for the interactions between the total load response and bulk power system frequency dynamics. It also guarantees frequency stability under a wide range of time varying operating conditions. The local device-level load response rules fully respect the device constraints (such as temperature setpoint, compressor time delays of HVACs, or arrival and departure of the deferrable loads), which are crucial for implementing real load control programs. The promise of autonomous, Grid Friendly™ response by smart appliances in the form of under-frequency load shedding was demonstrated in the GridWise Olympic Peninsula Demonstration in 2006. Each controller monitored the power grid voltage signal and requested that electrical load be shed by its appliance whenever electric power-grid frequency fell below 59.95 Hz. The controllers and their appliances responded reliably to each shallow under-frequency event, which was an average of one event per day and shed their loads for the durations of these events. Another objective of this project was to perform extensive simulation studies to investigate the impact of a population of Grid Friendly™ Appliances (GFAs) on the bulk power system frequency stability. The GFAs considered in this report are represented as demonstration units with water heaters individually modeled.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2022

Enabling Autonomous Electron Microscopy for Networked Computation and Steering

Advanced electron microscopy workflows require an ecosystem of microscope instruments and computing systems possibly located at different sites to conduct remotely steered and automated experiments. Current workflow executions involve manual operations for steering and measurement tasks, which are typically performed from control workstations co-located with microscopes; consequently, their operational tempo and effectiveness are limited. We propose an approach based on separate data and control channels for such an ecosystem of Scanning Transmission Electron Microscopes (STEM) and computing systems, for which no general solutions presently exist, unlike the neutron and light source instruments. We demonstrate automated measurement transfers and remote steering of Nion STEM physical instruments over site networks. We propose a Virtual Infrastructure Twin (VIT) of this ecosystem, which is used to develop and test our steering software modules without requiring access to the physical instrument infrastructure. Additionally, we develop a VIT for a multiple laboratory scenario, which illustrates the applicability of this approach to ecosystems connected over wide-area networks, for the development and testing of software modules and their later field deployment.

Al Najjar, Anees↗

DOE OSTI2014

Cyber-Physical System Security With Deceptive Virtual Hosts for Industrial Control Networks

A challenge facing industrial control network administrators is protecting the typically large number of connected assets for which they are responsible. These cyber devices may be tightly coupled with the physical processes they control and human induced failures risk dire real-world consequences. Dynamic virtual honeypots are effective tools for observing and attracting network intruder activity. This paper presents a design and implementation for self-configuring honeypots that passively examine control system network traffic and actively adapt to the observed environment. In contrast to prior work in the field, six tools were analyzed for suitability of network entity information gathering. Ettercap, an established network security tool not commonly used in this capacity, outperformed the other tools and was chosen for implementation. Utilizing Ettercap XML output, a novel four-step algorithm was developed for autonomous creation and update of a Honeyd configuration. This algorithm was tested on an existing small campus grid and sensor network by execution of a collaborative usage scenario. Automatically created virtual hosts were deployed in concert with an anomaly behavior (AB) system in an attack scenario. Virtual hosts were automatically configured with unique emulated network stack behaviors for 92% of the targeted devices. The AB system alerted on 100% of the monitored emulated devices.

97 MATHEMATICS AND COMPUTING↗